Computer Engineering Commons^™

Enhanced Indoor Localization System Based On Inertial Navigation, Rasika Lakmal Hettiarachchige Don

Electronic Thesis and Dissertation Repository

An algorithm for indoor localization of pedestrians using an improved Inertial Navigation system is presented for smartphone based applications. When using standard inertial navigation algorithm, errors in sensors due to random noise and bias result in a large drift from the actual location with time. Novel corrections are introduced for the basic system to increase the accuracy by counteracting the accumulation of this drift error, which are applied using a Kalman filter framework.

A generalized velocity model was applied to correct the walking velocity and the accuracy of the algorithm was investigated with three different velocity models which were derived …